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You can change the Milestone that a ToDo List relates to by Editing the ToDo List and selecting a different Milestone, as follows:

You can also change the ToDo List that a ToDo belongs to. Under Basecamp's To-Dos tab, hover over a ToDo, and drag the "up/down" handle (see below) in order to drop the ToDo under a different ToDo List. (I believe that both ToDo Lists must be active [not completed] for this drag & drop).